Operating Modes - Siemens Sinamics S120 Commissioning Manual

Operating modes

CANopen supports velocity and torque-referred operating modes – and with deviations to the
CANopen standard, also position-referred operating modes:
● Velocity Mode (velocity-related)
Simple velocity control with ramps and the relevant objects (e.g. frequency converters or
current converters)
● Profile Velocity Mode (velocity-related)
Velocity control, closed-loop speed control and the relevant objects.
● Profile Torque Mode (torque-related)
Torque control and the relevant objects
● Homing Mode (position-referred (Page 134))
Using various techniques, it determines a home position (reference position)
● Profile Position Mode (position-referred (Page 134))
Positioning operating mode, where velocity, position and acceleration values can be set
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
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